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answered 2013-06-04 16:39:45 -0500

joq gravatar image

Your yaw calculation looks wrong. If you already have a pose, the yaw in radians should already be available in msg.pose.pose.orientation.z.

The goal assignment is in error because you are trying to assign a quaternion to the w component of another quaternion. Maybe you mean this:

goal.target_pose.pose.orientation = gth;